Vortex Stonefish Sim

This repository contains scenario files and models for simulation of the Vortex NTNU drones.

Prerequisites

• The Stonefish library needs to be installed.
• The Stonefish ROS 2 package must be compiled.

Usage

Clone this repository and build your workspace.

Launch a scenario:

ros2 launch stonefish_sim simulation.launch.py task:=structure

Available scenarios are docking, pipeline, structure, orca_demo, freya_demo, orca_freya_demo.

If you have a less capable computer, other options are to use low rendering quality or turn off rendering completely. For low rendering quality use

ros2 launch stonefish_sim simulation.launch.py rendering_quality:=low

and for no rendering use

ros2 launch stonefish_sim simulation.launch.py rendering:=false

Creating Your Own Scenario

To create your own scenario file, follow these steps:

1. Define the Scenario File:

   • Create a new .scn file under the scenario folder.
   • This file will define the specific scenario you want to simulate.

2. Import Objects:

   • Use objects defined in .scn files located in the objects folder.
   • These objects can represent various elements of the simulation, such as obstacles or environmental features.

3. Include Data Files:

   • The object files in the objects folder can import data from files located in the data/object_files directory.
   • Typical files in data/object_files are .png textures and .obj files.

4. Define the Scenario Config

   • Additionaly you have to create a config file in the config directory that defines transformations for components.
   • This step allows easy configuration of scenario parameters that will be useful for testing purposes.